[Knufire]

95% of our driver practice consisted of this when I was a student:

1. Set the timer on the driver station to match timing
2. Enable the robot in practice mode
3. Drive if it were an actual match
4. Repeat 1-3.

Once you've gotten enough time on the sticks that your performance starts to stabilize and become more consistent, you can establish a baseline of which to compare future trials to. Note that these performance will often greatly exceed what you can do on an actual field with 5 other robots around.

As Austin mentioned above, once you've reached the point where your performance starts to become consistent, add a defensive robot as well. Try to push your performance back to that baseline value with the defensive robot added.

Now this is usually a bit controversial, but we also used pushups as a driver motivator. Performed under the that consistent baseline that we usually hit? Pushups. Fouls/penalties? Pushups. Not following directions of the drive coach? Major pushups.